CN111623191A

CN111623191A - Umbrella-shaped supporting mechanism of pipeline robot

Info

Publication number: CN111623191A
Application number: CN202010495053.0A
Authority: CN
Inventors: 王致远; 王高琦; 程晓玲; 李子涵; 范宇浩; 高海铭
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2020-06-03
Filing date: 2020-06-03
Publication date: 2020-09-04

Abstract

The invention relates to an umbrella-shaped supporting mechanism of a pipeline robot. Is a mechanical mechanism with the appearance similar to the umbrella stand structure. The device can be used for enabling the robot to adapt to supports with different pipeline diameters, and automatic adjustment of the stretching diameter is achieved by converting axial force and movement into radial force and movement. The mechanism comprises a main shaft, a stress plate, a propelling block, a connecting rod, a guide rail, a sliding block, a guide mechanism, a dowel bar, a sensor, a control system, a cylinder and a magnetic universal wheel. The mechanism can automatically adjust the maximum excircle radius to adapt to the inner diameter of the pipe, can realize under-actuation and plays a good role in positioning and supporting.

Description

Umbrella-shaped supporting mechanism of pipeline robot

Technical Field

The invention relates to mechanical equipment, in particular to an umbrella-shaped supporting mechanism of a pipeline robot, aiming at efficiently and quickly changing the action direction of force, realizing that the robot in a pipeline can be automatically adapted to different pipeline inner diameters in work, and improving the working capacity of the robot.

Background

At present, more and more various pipelines adopt pipeline robots to carry out maintenance and cleaning work in the pipelines, the pipeline robots which are popular in the market at present, such as Heli-pipe pipeline robots, Cedric Anthier-ens robots and other electric-pneumatic driven peristaltic pipeline robots which are directionally developed for detecting the pipelines of the steam generator of the nuclear power station are all special robots designed for pipelines with special inner diameters, and the pipeline robots can not play a role in pipelines with changed inner diameters or pipelines with different models. Therefore, the umbrella-shaped supporting mechanism of the pipeline robot is researched, so that the pipeline robot can adapt to pipelines of different models, the function of adapting to pipe diameter change is achieved, and the working capacity of the robot is improved.

At present, the pipeline robot which is put into use at home and abroad can only be suitable for cleaning pipelines with several specific pipe diameters in a limited range, is lack of practicability and flexibility, cannot automatically adapt to different pipeline diameters, limits the application range of the robot and influences the working efficiency of the robot.

In the research on the design and the dynamic characteristics of the pipeline robot dredging device (1001- & lt- & gt 2257 (2018) & lt 08-0075-06), Shenyang building university deeply researches the overload protection and the pipeline self-adaptive capacity of the robot, but the telescopic range of the robot has certain limitation, the designed structure is complex, the self-adaptive capacity is poor, and the robot is not beneficial to being adapted to the advancing of the inner walls of the pipelines with different purposes.

The invention discloses another intelligent pipeline robot (CN 107975655), which realizes random movement in a pipeline through a turbine installed on the robot, and can control the robot through a remote control terminal according to data collected by a computer.

Disclosure of Invention

The invention aims to provide a pipeline robot supporting structure adaptive to different pipeline diameters, which can realize automatic adjustment of the stretching diameter by converting axial force and movement into radial force and movement.

In order to achieve the technical purpose, the technical solution of the invention is as follows: an umbrella-shaped supporting mechanism of a pipeline robot comprises a main shaft, a stress plate, a propelling block, a connecting rod, a guide rail, a sliding block, a guide mechanism, a dowel bar, a sensor, a control system, a cylinder and a magnetic universal wheel.

According to the present invention, there is provided an umbrella-shaped support mechanism of a pipeline robot, comprising:

a main shaft;

the guide mechanism is arranged on the main shaft;

the guide rail is arranged in front of the guide mechanism;

the sliding block is matched with the guide rail and is arranged on the guide mechanism;

the dowel bar is arranged on the upper part of the sliding block;

the sensor is arranged at the outermost end of the dowel bar, is wrapped by a rubber pad and is connected with an external control system through a line.

The connecting rod is installed in a manner of matching with the sliding block and the controller;

the propelling block is arranged on the main shaft;

the stress plate is arranged behind the controller;

the control system is arranged at the outer end of the mechanism and used for receiving the sensor signal;

the cylinder drives the stress plate to move under the control of the control system;

the magnetic universal wheel is matched with the dowel bar to bear the whole device to move in the pipeline.

The mechanism can make the pipeline robot self-adapt to the change of the diameter of the pipeline.

The main shaft part is hollow inside, can be used for laying lines inside and is provided with a guide part.

The propelling block is characterized in that the main body is a cube, swing rod connecting pins with the same height and the same left-right symmetry are arranged on four side planes of the propelling block and are used for being matched with and connecting with a connecting rod, so that the connecting rod can be matched with the propelling block to move in a vertical range, and the connecting rod synchronously fluctuates up and down when the propelling block moves up and down along the direction of a main shaft. The connecting rod only does up-and-down fluctuation movement in a fixed plane.

The stress plate is a flat plate with a hole in the center matched with the main shaft and is vertically matched with the propelling block, and the top of the stress plate is matched with the bottom of the propelling block. The device has the advantages of sharing the acting force, increasing the stress area of the propelling block, and avoiding the phenomenon that the propelling block is deformed to shorten the service life when the propelling force is directly applied to the propelling block.

The dowel bar is promoted by the slider, and the sensor is installed to the dowel bar outer end, the sensor is the sensitive components and parts of pressure, and when the dowel bar drove the sensor and started from the contact of magnetism universal wheel to the pipeline inner wall, when extrusion pipeline inner wall reached the maximum set pressure, the sensor outwards connects control system and signals, is given the cylinder that is located the atress board below by control system transmission signal again, stops the promotion of cylinder to whole mechanism.

The connecting rod is an arc-shaped rod, two ends of the connecting rod are respectively hinged with the sliding block and the pushing block, when the pushing block is at the rearmost end in the front-back movable range, the sliding block is located at the position closest to the main shaft in the radial direction, and when the pushing block slides forwards from the rearmost end along the main shaft direction, the sliding block can move on the guide rail in the radial direction under the transmission action of the connecting rod, so that the change of the movement direction from the axial direction to the radial direction is achieved in a small space.

The bottom of each guide rail is fixed on the guide mechanism, each guide rail is provided with a slide block matched with the guide rail, the guide rails are matched with the slide blocks through clamping grooves, a matching shaft matched with the connecting rod is arranged on a right plane of each slide block perpendicular to the bottom surface of the slide rail, the effect of connecting the slide blocks and the connecting rod can be achieved, the connecting rod can be enabled to be synchronously matched with the slide blocks in a specified line, and the two parts can be enabled to achieve respective functions.

The magnetic universal wheel is divided into three parts, the leftmost end is a base which can be turned 360 degrees and is connected with the tail end of a dowel bar, the front end of the base is provided with a magnetic wheel skeleton of the magnetic universal wheel, a layer of metal outer skin with the magnetism S is coated on the outermost layer of the curved surface of the wheel skeleton, matched with a universal wheel tyre with the magnetic property of N at the innermost layer of curved surface sleeved at the periphery of the universal wheel tyre, because the magnetic properties are different, the distance from the outermost curved surface of the wheel frame to each point on the innermost curved surface of the tire is always consistent and unchanged, when the whole device travels in the pipeline, if the device encounters an obstacle formed by hardening of a large stain, or when the pipeline is damaged and deformed, the tire can rebound in a short time, and can be continuously pressed on the inner wall of the pipeline to keep the whole device to advance because of the difference of the magnetism of the curved surface of the outer layer of the wheel frame, so that the device cannot be damaged due to sudden pressure on fittings such as a dowel bar sliding block and the like matched with the dowel bar sliding block. Has certain self-adaptability.

Compared with the prior art in China, the invention has the following remarkable advantages: 1. the mechanism can automatically adjust the maximum excircle radius to adapt to the change of the inner diameter of the pipe, realize under-actuation and play good positioning and supporting roles. 2. Aiming at the problems of singularity (also called dead point) and large starting force of the supporting arm mechanism, a diagonal rod-sliding block structure is designed, so that the thrust required by the mechanism when the mechanism is unfolded at a small angle is greatly reduced, and the problem of large required starting force is solved. 3. The problem of sudden change of the inner diameter of the pipeline can be solved through the magnetic universal wheel mechanism. The mechanism is simple in structure, convenient and fast to operate and capable of reducing manual repetitive labor. The working efficiency and the adaptability of the pipeline robot are improved.

Drawings

Fig. 1 is an isometric view of an umbrella support mechanism of a pipeline robot.

Fig. 2 is a front view of an umbrella-shaped support mechanism of a pipeline robot.

Figure 3 is an isometric view of a pusher block.

Fig. 4 is an appearance structure of the magnetic universal wheel.

Detailed Description

Referring to fig. 1, an umbrella-shaped supporting mechanism of a pipeline cleaning robot is composed of (1) a main shaft (2), a guide rail (3), a slide block (4), a guide mechanism (5), a dowel bar (6), a sensor (7), a connecting rod (8), a propelling block (9), a stress plate (10), an air cylinder (11), a control system (12.1), a magnetic universal wheel base (12.2), a magnetic universal wheel framework (12.3) and magnetic universal wheel tires.

Comprises a main shaft (1); the spindle component (1) is hollow in structure and can be internally provided with a circuit; the guide mechanism (4) is characterized by being of a disc structure, a hole matched with the main shaft (1) is formed in the circle center, three guide rails are assembled on the upper surface, a square hole groove with the same length as the guide rails is formed in the right side of each guide rail, and a connecting rod (7) can penetrate through the multi-degree-of-freedom guide mechanism (4) to be connected with the sliding block (3) on the upper surface of the guide rail; the bottom of each guide rail (2) is fixed on the multi-degree-of-freedom guide mechanism (4) in a welding mode, each guide rail (2) is provided with a sliding block (3) matched with the guide rail, and the guide rails (2) are matched with the sliding blocks (3) through clamping grooves; the right plane of every slider (3) perpendicular to slide rail bottom surface is equipped with the cooperation axle that can cooperate with (7) connecting rod on, can play the effect of connecting slider (3) and connecting rod (7), guarantees that connecting rod (7) can realize synchronous cooperation with slider (3) in the regulation circuit, ensures that two parts can realize respective function. The connecting rod (7) is an arched rod, and two ends of the connecting rod are respectively hinged with the matching shaft on the sliding block (3) and the pushing block (8). When the pushing block (8) is at the extreme end in the front and back moving range, the sliding block (3) is positioned at the position closest to the main shaft (1) in the radial direction, and when the pushing block (8) slides forwards from the extreme end along the direction of the main shaft (1), the sliding block (3) can do radial movement on the guide rail (2) under the transmission action of the connecting rod (7), so that the conversion of the movement direction from the axial direction to the radial direction is realized in a small space.

Dowel bar (5) are promoted by slider (3), and sensor (6) are installed to dowel bar (5) outer end, sensor (6) are the sensitive components and parts of pressure, and it makes magnetism universal wheel (12) begin from contacting the pipeline inner wall to drive sensor (6) when dowel bar (5), and when extrusion pipeline inner wall reached maximum set pressure, the sensor sent signal to external control system (11), and cylinder (10) that are located atress board (9) rear are given by control system (11) transmission signal again, stop cylinder (10) to the promotion of whole mechanism.

The propelling block (8) is characterized in that the main body is a cube, swing rod connecting pins with the same height and the same left-right symmetry are arranged on four side planes of the propelling block and are used for being matched with the connecting rods (7) to enable the connecting rods (7) to move in a matching mode within a specified range with the propelling block (8), and the connecting rods (7) synchronously undulate while the propelling block (8) moves back and forth along the direction of the main shaft (1). The connecting rod (7) only does fluctuation movement in a fixed plane. The stress plate (9) is a flat plate which can be matched with the main shaft (1) and is provided with a hole in the center, the stress plate is matched with the propelling block (8) in a front-back mode, and the front end of the stress plate (9) is connected and matched with the tail end of the propelling block (8). The function of sharing the acting force and increasing the stressed area of the propulsion block (8) is achieved. Avoid on the direct effect of driving force pushes away piece (8), prevent to push away piece (8) and appear deformation and lead to reducing life.

The magnetic universal wheel (12) is divided into three parts, the tail end of the magnetic universal wheel is a base (12.1) which can turn 360 degrees and is connected with the tail end of the dowel bar, the front end of the base is provided with a magnetic wheel rib (12.2) of the magnetic universal wheel, a metal outer skin with the magnetism of S is coated on the outermost layer of the curved surface of the wheel rib, matched with a universal wheel tyre (12.3) which is sleeved at the periphery of the universal wheel tyre and has the innermost layer of curved surface with N magnetism, because the magnetism is different, the distance from the outermost curved surface of the wheel rib (12.2) to each point on the innermost curved surface of the tyre (12.3) is consistent, when the whole device travels in the pipeline, if the tyre suddenly meets the obstacle formed by the larger stain plate, the tyre (12.3) can rebound in a shorter time, and because the magnetism is different from that of the wheel ribs (12.2), the device can be continuously pressed on the inner wall of the pipeline to keep the whole device to move, and fittings such as a dowel bar sliding block and the like matched with the dowel bar sliding block are not suddenly pressed to cause damage to the device. Has certain self-adaptability.

Claims

1. An umbrella-shaped supporting mechanism of a pipeline robot, comprising:

a main shaft; the guide mechanism is arranged on the main shaft; the guide rail is arranged in front of the guide mechanism; the sliding block is matched with the guide rail and is arranged on the guide mechanism; the dowel bar is arranged on the upper part of the sliding block; the sensor is arranged at the outermost end of the dowel bar, is wrapped by a rubber pad and is connected with an external control system through a circuit;

the propelling block is arranged on the main shaft; the stress plate is arranged behind the controller; the control system is arranged at the outer end of the mechanism and used for receiving the sensor signal; the cylinder drives the stress plate to move under the control of the control system; the magnetic universal wheel is matched with the dowel bar to bear the whole device to move in the pipeline.

2. The spindle unit is hollow inside, can be used for laying lines inside and has a guiding function.

3. The bearing plate is a flat plate with a hole in the center matched with the main shaft, the bearing plate is matched with the propelling block up and down, the top of the bearing plate is matched with the bottom of the propelling block, the acting force is shared, the stressed area of the propelling block is increased, and the phenomenon that the propelling block is deformed to shorten the service life due to the fact that the propelling force is directly applied to the propelling block is avoided.

4. The device is characterized in that the dowel bar is pushed by the sliding block, the outer end of the dowel bar is provided with a sensor, the sensor is a pressure sensitive component, when the dowel bar drives the sensor to contact the inner wall of the pipeline from the magnetic universal wheel to the inner wall of the pipeline until the inner wall of the pipeline is extruded to reach the maximum set pressure, the sensor sends a signal to an external control system, the control system sends a signal to an air cylinder positioned below the stress plate, and the air cylinder stops pushing the whole mechanism.

5. The connecting rod of the device is an arc rod, two ends of the connecting rod are respectively hinged with a sliding block and a pushing block, when the pushing block is located at the rearmost end in a front-back movable range, the sliding block is located at the position closest to a main shaft in the radial direction, and when the pushing block slides forwards from the rearmost end in the main shaft direction, the sliding block can move on a guide rail in the radial direction under the transmission action of the connecting rod, so that the change of the moving direction from the axial direction to the radial direction can be achieved in a small space.

6. The bottom of each guide rail is fixed on a guide mechanism, each guide rail is provided with a sliding block matched with the guide rail, the guide rails are matched with the sliding blocks through clamping grooves, and a matching shaft matched with a connecting rod is arranged on a right plane of each sliding block, which is vertical to the bottom surface of the sliding rail, so that the function of connecting the sliding blocks and the connecting rod can be achieved, the connecting rod can be synchronously matched with the sliding blocks in a specified line, and the two parts can achieve respective functions.

7. The magnetic universal wheel of claim is composed of three parts, the leftmost end is a base capable of 360 degree turning and connected with the end of the force transmission rod, the front end of the base is equipped with a magnetic wheel frame of the magnetic universal wheel, the outermost curved surface of the wheel frame is coated with a metal skin with magnetism S, and the metal skin is matched with the universal wheel tyre with magnetism N of the innermost curved surface sleeved on the periphery of the magnetic universal wheel frame, because the magnetism of the metal skin is different, the distance from the outermost curved surface of the wheel frame to each point on the innermost curved surface of the tyre is always consistent and unchanged, when the whole device moves in a pipeline, if the device suddenly encounters an obstacle formed by large dirt plate or the pipeline is damaged and deformed, the tyre can rebound in a short time, and because the magnetism of the outer curved surface of the wheel frame is different, the magnetic universal wheel can be continuously pressed on the inner wall of the pipeline to keep the whole device moving, and the damage of the fittings matched with the force transmission rod sliding block and, has certain self-adaptability.

8. The propulsion block as claimed in claim, wherein the main body is a cube and the four side planes of the main body have swing link connecting pins with the same height and left-right symmetry for matching with the link rod, so that the link rod can match with the motion of the propulsion block in the vertical range, and the link rod synchronously moves up and down while the propulsion block moves up and down along the main shaft direction, and the link rod only moves up and down in the fixed plane.